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<h1>Auxiliary API</h1>

<p>The auxiliary API is part of the <a href="apisOverview.htm">CoppeliaSim API framework</a>.</p>

<p>The auxiliary API is not a CoppeliaSim interface per se, but more a collection of C++ functions that can be embedded into your own code, and that operate on their own. Following auxiliary API categories are available:</p>

<li><strong><a href="coppeliaGeometricRoutines.htm">Coppelia geometric routines</a></strong>: this is a collection of stand-alone C++ functions that offer the same collision detection, distance calculation and proximity sensor functionality as in CoppeliaSim.</li>
<li><strong><a href="coppeliaKinematicsRoutines.htm">Coppelia kinematics routines</a></strong>: this is a collection of stand-alone C++ functions that are able to handle the same kind of kinematics calculations as can be done within CoppeliaSim.</li>


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<h3 class=recommendedTopics>Recommended topics</h3>
<li><a href="geometricPlugin.htm">The geometric plugin for CoppeliaSim</a></li>
<li><a href="kinematicsPlugin.htm">The kinematics plugin for CoppeliaSim</a></li>

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